Machine tool robot feeding and discharging cooperation system and working method thereof

Abstract

The invention belongs to the technical field of machine tools, and particularly relates to a machine tool robot feeding and discharging cooperation system and a working method thereof. The charging tray circulating device of the machine tool robot feeding and discharging cooperation system comprises the charging tray supplying mechanism and the charging tray recycling mechanism, the charging tray supplying mechanism can convey charging trays filled with raw materials on the cart to the feeding and discharging position, and the charging tray recycling mechanism can convey the charging trays filled with clinker back to the cart from the feeding and discharging position. Circulating workpiece supply of the charging tray is achieved, and the occupied space of the workpieces and the charging tray is saved. The charging tray circulating device can automatically feed and circulate charging trays on the cart, and raw materials and cooked materials are manually transferred through the cart, so that the efficiency is improved. A positioning clamp is arranged on a workpiece clamping device of the collaborative robot, so that workpieces can be accurately grabbed after being positioned in situ; and the friction force between the workpiece and the groove bottom of the material groove can be reduced through the air outlet holes in the material disc, so that the positioning clamp can conveniently move the workpiece for positioning.

Description

Technical Field

[0001] The present invention belongs to the technical field of machine tools, and particularly relates to a machine tool robot loading and unloading cooperation system and its working method. Background Art

[0002] At present, the processing and production of various parts mostly rely on the processing or cleaning of machine tools. In order to improve the continuity and stability of work, it has become a trend to use collaborative robots for loading and unloading.

[0003] Patent CN221210822U discloses a collaborative robot loading and unloading system. In the existing collaborative robot loading and unloading system, a fixed pallet is generally used to place workpieces. And in order to stack the workpieces tightly, after the manipulator picks up the workpiece from the pallet, it needs to be placed at a secondary positioning device for positioning, and then grabbed into the machine tool for processing.

[0004] However, this kind of collaborative robot loading and unloading system has many disadvantages: the number of workpieces placed on the fixed pallet is limited. If more workpieces need to be placed, the floor area of the pallet needs to be increased; after the workpiece is processed, it needs to be transferred manually or placed again manually, which is time-consuming and laborious; the secondary positioning after picking up the material increases the moving trajectory and duration of the robotic arm, and an additional secondary positioning station needs to be vacated. Summary of the Invention

[0005] The purpose of the present invention is to provide a machine tool robot loading and unloading cooperation system and its working method.

[0006] The first aspect of the present application provides a machine tool robot loading and unloading cooperation system, including: a machine tool, a collaborative robot, and a pallet circulation device; where The pallet circulation device includes a frame and a pallet supply mechanism and a pallet recycling mechanism arranged in the frame; the pallet supply mechanism is used to convey the pallet loaded with raw materials on the trolley to the loading and unloading position; the pallet recycling mechanism is used to convey the pallet filled with finished materials from the loading and unloading position back to the trolley; and The collaborative robot is used to grab the raw materials at the loading and unloading position into the machine tool, and grab the finished materials in the machine tool into the pallet at the loading and unloading position.

[0007] In an embodiment of the present application, one end of the frame is provided with a trolley accommodation space; The pallet supply mechanism includes lifting devices located on both sides of the trolley accommodation space, and a first translation device located above the trolley accommodation space; The lifting device is used to lift the lowermost pallet of the pallet stack on the trolley, so that the uppermost pallet enters the first translation device; The first translation device is used to convey the uppermost pallet to the loading and unloading position.

[0008] In an embodiment of the present application, a tray recycling space is provided at the other end of the frame body, and the loading and unloading position is provided above the tray recycling space; The tray recycling mechanism includes loading devices located on both sides of the tray recycling space, and a second translation device located below the tray recycling space; The loading device is used to receive the trays conveyed by the first translation device, and is used to drive the trays to descend onto the second translation device after the raw materials in the trays are all processed into finished products; The second translation device is used to translate the trays filled with finished products to the lower part of the tray stack lifted by the lifting device.

[0009] In an embodiment of the present application, the lifting device includes: a first lifting module, and a first lifting plate installed on the first lifting module; A number of lifting members are hinged on the first lifting plate; among them When the first lifting plate rises, the lifting members are in a horizontal state for lifting the trays; when the first lifting plate descends, the lifting members are driven to rotate upward by the outer wall of the tray, and return to the horizontal state after leaving the lowermost tray; The first translation device includes: A connecting frame, slidably installed on the frame body; Two plugging cylinders, respectively installed on both sides of the connecting frame; a plugging member for inserting into the corresponding plugging holes on the trays is provided at the end of the plugging cylinder; and A translation driver, arranged on the frame body, for driving the connecting frame to move towards the loading and unloading position.

[0010] In an embodiment of the present application, the loading device includes: a second lifting module, and a second lifting plate installed on the second lifting module; The second translation device includes: A translation module; A moving plate, installed on the translation module; A lifting cylinder, installed on the moving plate, and a bearing plate for bearing the trays filled with finished products is provided at its upper end.

[0011] In an embodiment of the present application, the collaborative robot includes: A chassis, arranged on one side of the tray circulation device; A robotic arm, installed on the chassis; and A workpiece clamping device, arranged at the end of the robotic arm; among them The workpiece clamping device includes a mounting plate, and a positioning fixture, a raw material fixture and a finished product fixture arranged on the mounting plate; the positioning fixture is used for clamping and positioning the raw materials in the trays; the raw material fixture is used for clamping the positioned raw materials; the finished product fixture is used for clamping the finished products in the machine tool.

[0012] In one embodiment of the present application, the positioning fixture comprises: A fixing plate, one end of which is fixed on the mounting plate, and the other end of which is provided with a fixing block; the fixing block is provided with a first V-shaped groove; Positioning cylinder, fixed on the mounting plate; The positioning movable plate has one end fixed on the positioning cylinder and the other end provided with a movable block; the movable block is provided with a second V-shaped groove.

[0013] In one embodiment of the present application, the tray is provided with a plurality of troughs for placing workpieces; The bottom of the trough is provided with an air outlet; An air inlet interface is provided on one side of the material tray, and an air supply system for connecting the air inlet interface and the air outlet is provided inside the material tray; A docking cylinder is provided on one side of the frame body located at the upper and lower material positions, and a gas nozzle for docking with the air inlet interface is provided on the cylinder; wherein When the first translation device transports the uppermost material tray to the upper and lower material positions, the docking cylinder drives the air nozzle to insert into the air inlet interface on the material tray; and When the positioning fixture clamps and positions the raw material in the material trough, the air nozzle supplies air to the air outlet.

[0014] In one embodiment of the present application, the gas supply system comprises: An air intake passage, communicated with the air intake interface; The diversion chamber is arranged below each material trough, the upper end of which is connected to the air outlet hole at the bottom of the trough, and the lower end is connected to the air inlet channel through the transition channel; A channel switch valve is arranged in the transition channel, with its upper end extending out of the material trough and its lower end being provided with a plug for blocking the air inlet end of the transition channel; and A spring is arranged at the bottom of the channel switch valve; wherein When there is a workpiece in the material trough, the workpiece presses down the channel switch valve, and the plug moves down to open the transition channel, so that the air outlet is connected to the air inlet channel; when there is no workpiece in the material trough, the spring pushes up the channel switch valve, and the plug moves up to block the air inlet end of the transition channel, so that the air outlet is not connected to the air inlet channel.

[0015] Accordingly, the second aspect of the present application provides a working method of the machine tool robot loading and unloading collaborative system as described above, comprising: Lift the stack of trays on the trolley to the preset height; Move the top material tray horizontally to the upper and lower material positions; Supply air to the tray, locate the material in the tray in its original position, grab it to the machine tool for processing, and stop supplying air to the tray; After the raw material inside the machine tool is processed, the clinker is picked up, another raw material is placed, and then the clinker is grasped and placed into the tray, and the feeding of another raw material is carried out. When the trays at the loading and unloading positions are all filled with clinker, the clinker trays are recycled to the lower part of the tray stack on the trolley.

[0016] The beneficial effects of the present invention are as follows: 1. The tray circulation device of the machine tool robot loading and unloading cooperation system of the present invention includes a tray supply mechanism and a tray recycling mechanism. The tray supply mechanism can transport the trays filled with raw materials on the trolley to the loading and unloading positions, and the tray recycling mechanism can transport the trays filled with clinker from the loading and unloading positions back to the trolley, realizing the circular supply of workpieces by the trays, saving the occupied space of workpieces and trays.

[0017] 2. The tray circulation device can automatically supply and recycle the trays on the trolley. Workers transfer raw and clinker through the trolley, improving the efficiency.

[0018] 3. The workpiece clamping device of the collaborative robot is provided with a positioning fixture, which can accurately grasp the workpiece after positioning it in place; and the air holes on the tray can reduce the friction between the workpiece and the bottom of the material groove, enabling the positioning fixture to conveniently move the workpiece for positioning.

[0019] 4. The air supply system includes a channel switch valve, which can only connect the air hole with the air inlet channel when there is a workpiece in the material groove, that is, it can prevent the air hole of the material groove without a workpiece from leaking air and can maintain the air pressure.

[0020] Other features and advantages of the present invention will be described in the following specification, and some of them will become obvious from the specification or be understood by implementing the present invention. The objectives and other advantages of the present invention are achieved and obtained by the structures specifically pointed out in the specification and the drawings.

[0021] In order to make the above-mentioned objectives, features and advantages of the present invention more obvious and understandable, the following specifically gives preferred embodiments and, in conjunction with the accompanying drawings, makes a detailed description as follows. Description of the Drawings

[0022] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required to be used in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0023] Figure 1 It is a schematic diagram of the machine tool robot loading and unloading cooperation system of a preferred embodiment of the present invention; Figure 2Schematic diagram of the cooperation between the tray circulation device and the cart in a preferred embodiment of the present invention; Figure 3 Schematic diagram of the tray circulation device in a preferred embodiment of the present invention; Figure 4 Schematic diagram of the tray circulation device in a preferred embodiment of the present invention with the housing hidden; Figure 5 Installation schematic diagram of the lifting member in a preferred embodiment of the present invention; Figure 6 Schematic diagram of the workpiece clamping device in a preferred embodiment of the present invention; Figure 7 Bottom-up perspective view of the workpiece clamping device in a preferred embodiment of the present invention; Figure 8 Schematic diagram of the tray in a preferred embodiment of the present invention; Figure 9 Partial cross-sectional view of the tray in a preferred embodiment of the present invention.

[0024] In the figure: Tray circulation device 10, loading and unloading position 101, docking cylinder 102, air nozzle 103, housing 1, tray supply mechanism 11, lifting device 111, first lifting module 1111, first lifting plate 1112, lifting member 1113, first translation device 112, connecting frame 1121, plugging cylinder 1122, plugging member 1123, translation driver 1124, tray recycling mechanism 12, carrying device 121, second lifting module 1211, second lifting plate 1212, second translation device 122, translation module 1221, moving plate 1222, lifting cylinder 1223, carrying plate 1224.

[0025] Collaborative robot 20, chassis 21, robotic arm 22, workpiece clamping device 23, mounting plate 231, positioning fixture 232, fixing plate 2321, fixing block 2322, first V-shaped groove 2323, positioning cylinder 2324, positioning moving plate 2325, moving block 2326, second V-shaped groove 2327, green material fixture 233, first clamping cylinder 2331, first clamping block 2332, clinker fixture 234, second clamping cylinder 2341, second clamping block 2342; Machine tool 30, cart 40; Tray 50, material trough 51, air outlet hole 52, air inlet interface 53, air supply system 54, air inlet channel 541, shunt cavity 542, transition channel 543, channel switch valve 544, plug 545, spring 546, ball 547, plug hole 55. Detailed implementation manners

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0027] This application provides a loading and unloading cooperation system for a machine tool robot and its working method, which will be described in detail below. It should be noted that the description order of the following embodiments does not limit the preferred order of the embodiments of this application. And in the following embodiments, each embodiment has its own emphasis. For parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0028] See Figures 1 to 4 , in an embodiment, the loading and unloading cooperation system for a machine tool robot includes: a machine tool 30, a cooperation robot 20, and a tray circulation device 10; wherein the tray circulation device 10 includes a frame 1 and a tray supply mechanism 11 and a tray recycling mechanism 12 arranged in the frame 1; the tray supply mechanism 11 is used to transport the tray with raw materials on the trolley 40 to the loading and unloading position 101; the tray recycling mechanism 12 is used to transport the tray filled with finished products from the loading and unloading position 101 back to the trolley 40; and the cooperation robot 20 is used to grab the raw materials at the loading and unloading position 101 into the machine tool 30, and grab the finished products in the machine tool 30 into the tray at the loading and unloading position 101.

[0029] In this embodiment, the raw material refers to the workpiece to be processed that has not been processed by the machine tool, and the finished product refers to the workpiece that has been processed by the machine tool.

[0030] In this embodiment, after the trolley 40 with a stack of trays is pushed into the tray circulation device 10, the tray supply mechanism 11 can transport the tray with raw materials on the trolley 40 to the loading and unloading position 101; the cooperation robot 20 grabs the raw materials in the tray at the loading and unloading position 101 into the machine tool for processing, and puts the finished products back into the tray; when all the workpieces in the tray at the loading and unloading position 101 have been processed, the tray recycling mechanism 12 can transport the tray filled with finished products from the loading and unloading position 101 back to the trolley 40; the tray supply mechanism 11 then transports the tray with raw materials on the trolley 40 to the loading and unloading position 101, and so on in a cycle.

[0031] In this embodiment, the tray circulation device 10 can realize the automatic cyclic feeding of the stacked trays on the trolley 40, and one trolley 40 can be used for both feeding and recycling, which can reduce the occupied space.

[0032] Optionally, one end of the frame 1 is provided with a trolley accommodation space; the tray supply mechanism 11 includes lifting devices 111 located on both sides of the trolley accommodation space and a first translation device 112 located above the trolley accommodation space; the lifting devices 111 are used to lift the lowermost tray of the tray stack on the trolley 40 so that the uppermost tray enters the position of the first translation device 112; the first translation device 112 is used to convey the uppermost tray to the loading and unloading position 101. The other end of the frame 1 is provided with a tray recycling space, and the loading and unloading position 101 is arranged above the tray recycling space; the tray recycling mechanism 12 includes bearing devices 121 located on both sides of the tray recycling space and a second translation device 122 located below the tray recycling space; the bearing devices 121 are used to receive the trays conveyed by the first translation device 112 and to drive the trays to descend onto the second translation device 122 after all the raw materials in the trays are processed into finished products; the second translation device 122 is used to translate the trays filled with finished products to the lower part of the tray stack lifted by the lifting device 111.

[0033] In this embodiment, the lifting device 111 lifts the entire stack of trays on the trolley 40 so that the distance between the lowermost tray and the surface of the trolley is sufficient to receive the trays filled with finished products conveyed by the second translation device 122; after the first translation device 112 translates the uppermost tray to the loading and unloading position 101, the bearing device 121 receives and holds the tray, and the first translation device 112 returns to wait for the next tray to move.

[0034] Further, referring to Figure 4 and Figure 5 , the lifting device 111 includes: a first lifting module 1111 and a first lifting plate 1112 installed on the first lifting module 1111; a plurality of lifting members 1113 are hinged on the first lifting plate 1112; when the first lifting plate 1112 rises, the lifting members 1113 are in a horizontal state for lifting the trays; when the first lifting plate 1112 descends, the lifting members 1113 are driven to rotate upward by the outer wall of the tray and return to the horizontal state after leaving the lowermost tray.

[0035] Specifically, when the second translation device 122 drives the trays filled with finished products to move to the lower part of the tray stack, the first lifting module 1111 drives the first lifting plate 1112 to descend, and the lifting members 1113 can be driven to rotate upward passively to avoid the trays. After the first lifting plate 1112 descends below the trays filled with finished products, the lifting members 1113 reset to the horizontal state and extend below the trays filled with finished products, and the first lifting module 1111 drives the first lifting plate 1112 to rise, and the entire stack of trays is lifted by the lifting members 1113 for the first translation device 112 to move the uppermost tray.

[0036] Further, the first translation device 112 includes: a connection frame 1121 slidably mounted on the frame body 1; two plugging cylinders 1122 respectively mounted on both sides of the connection frame 1121; a plugging member 1123 provided at the end of the plugging cylinder 1122 for inserting into the corresponding plugging hole 55 on the tray; and a translation driver 1124 provided on the frame body 1 for driving the connection frame 1121 to move towards the loading and unloading position 101.

[0037] Optionally, the connection frame 1121 can be mounted on the slide rail of the frame body 1; the translation driver 1124 can be a cylinder or the like. When the lifting device 111 lifts the stack of trays to a preset position, the two plugging cylinders 1122 can insert the two plugging members 1123 into the plugging holes 55 on both sides of the tray, and the translation driver 1124 drives the connection frame 1121 to move towards the loading and unloading position 101, so that the tray can be moved to the loading and unloading position 101.

[0038] Further, referring to Figure 3 , the carrying device 121 includes: a second lifting module 1211, and a second lifting plate 1212 mounted on the second lifting module 1211; and, the second translation device 122 includes: a translation module 1221; a moving plate 1222 mounted on the translation module 1221; a lifting cylinder 1223 mounted on the moving plate 1222, and a carrying plate 1224 provided at the upper end thereof for carrying the tray filled with clinker.

[0039] Optionally, when the carrying plate 1224 receives the tray filled with clinker, the lifting cylinder 1223 can be in the ejected state so that the bottom surface of the tray is higher than the surface of the trolley; after the translation module 1221 moves the tray above the trolley, the lifting cylinder 1223 retracts, so that the tray can fall on the surface of the trolley.

[0040] Referring to Figure 1 , Figure 6 and Figure 7 , the collaborative robot 20 includes: a chassis 21 provided on one side of the tray circulation device 10; a robotic arm 22 mounted on the chassis 21; and a workpiece clamping device 23 provided at the end of the robotic arm 22.

[0041] Preferably, the workpiece clamping device 23 includes a mounting plate 231, and a positioning fixture 232, a raw material fixture 233 and a clinker fixture 234 provided on the mounting plate 231; the positioning fixture 232 is used for clamping and positioning the raw material in the tray; the raw material fixture 233 is used for clamping the positioned raw material; the clinker fixture 234 is used for clamping the clinker in the machine tool 30.

[0042] In this embodiment, when picking up the workpiece, after the robotic arm 22 drives the workpiece clamping device 23 to move to the workpiece to be processed, the workpiece can be clamped and positioned by the positioning fixture 232. Then, after the workpiece is clamped by the raw material fixture 233, the positioning fixture 232 is released. The workpiece can be positioned in place without grasping it to another secondary positioning station, saving the moving trajectory and time of the robotic arm 22.

[0043] Optionally, the positioning fixture 232 includes: a fixing plate 2321, one end of which is fixed on the mounting plate 231 and the other end is provided with a fixing block 2322; a first V-shaped groove 2323 is provided on the fixing block 2322; a positioning cylinder 2324 is fixed on the mounting plate 231; a positioning moving plate 2325, one end of which is fixed on the positioning cylinder 2324 and the other end is provided with a moving block 2326; a second V-shaped groove 2327 is provided on the moving block 2326.

[0044] In this embodiment, by driving the moving block 2326 to move through the positioning cylinder 2324, the corresponding corner of the workpiece can be inserted into the first V-shaped groove 2323 and the second V-shaped groove 2327, thereby positioning the workpiece.

[0045] Optionally, the raw material fixture 233 includes a first clamping cylinder 2331 and two first clamping blocks 2332 provided on the first clamping cylinder 2331; the finished product fixture 234 includes a second clamping cylinder 2341 and two second clamping blocks 2342 provided on the second clamping cylinder 2341.

[0046] In some embodiments, since the workpiece is heavy and the friction between it and the tray 50 is large, the positioning fixture 232 may not be able to drive the workpiece to move for positioning or the positioning may not be in place. Based on this, this embodiment provides a design that can reduce the friction between the workpiece and the tray 50.

[0047] Specifically, referring to Figure 8 , a plurality of material grooves 51 for placing workpieces are provided on the tray 50; air outlet holes 52 are provided at the bottom of the material grooves 51; an air inlet interface 53 is provided on one side of the tray 50, and a gas supply system 54 for connecting the air inlet interface 53 and the air outlet holes 52 is provided inside the tray 50; a docking cylinder 102 is provided on one side of the upper and lower material position 101 on the frame 1, and a nozzle 103 for docking with the air inlet interface 53 is provided thereon; when the first translation device 112 transports the uppermost tray to the upper and lower material position 101, the docking cylinder 102 drives the nozzle 103 to insert into the air inlet interface 53 on the tray; and when the positioning fixture 232 clamps and positions the raw material in the material groove 51, the nozzle 103 supplies gas to the air outlet holes 52.

[0048] In this embodiment, when the first translation device 112 conveys the uppermost material tray to the upper and lower material positions 101, the docking cylinder 102 can drive the air nozzle 103 to be inserted into the air inlet interface 53 on the material tray. The air nozzle 103 can be connected to an external air source, and can be controlled to be on and off by a solenoid valve. For example, the air nozzle 103 can supply air when the workpiece clamping device 23 is taking materials, and not supply air when not taking materials. When the material tray is full of clinker, the docking cylinder 102 can drive the air nozzle 103 to disengage from the air inlet interface 53, and the material tray enters the recycling program.

[0049] In this embodiment, the compressed air ejected from the air outlet 52 can form an air film between the workpiece and the bottom surface of the slot 51, which can reduce the friction between the workpiece and the bottom surface of the slot, thereby facilitating the movement of the workpiece when the positioning fixture 232 positions the workpiece. Optionally, a certain distance can be formed between the side edge of the slot 51 and the side wall of the workpiece to provide sufficient movement space for the workpiece when positioning.

[0050] In one application scenario, when the workpiece clamping device 23 takes the workpiece from the material tray, there will be a workpiece in the material tray being processed in the machine tool, that is, there will be a material trough 51 on the material tray without a workpiece. In order to prevent the air outlet 52 of the material trough 51 from escaping and thus reducing the air pressure, the material trough 51 can be designed so that the air outlet 52 can be connected to the air source only when there is a workpiece in the material trough 51.

[0051] Preferably, see Figure 8 and Figure 9 The air supply system 54 includes: an air inlet channel 541, which is connected to the air inlet interface 53; a diversion chamber 542, which is arranged below each material trough 51, and its upper end is connected to the air outlet 52 at the bottom of the trough, and its lower end is connected to the air inlet channel 541 through the transition channel 543; a channel switching valve 544, which is arranged in the transition channel 543, and its upper end extends out of the material trough 51, and its lower end is provided with a plug 545 for sealing the air inlet end of the transition channel 543; and a spring 546, which is arranged at the bottom of the channel switching valve 544.

[0052] In this embodiment, when there is a workpiece in the material trough 51, the workpiece presses down the channel switch valve 544, the spring 546 is compressed, and the plug 545 moves down to open the transition channel 543, so that the air outlet 52 is connected with the air inlet channel 541; when there is no workpiece in the material trough 51, the spring 546 resets to lift the channel switch valve 544 upward, and the plug 545 moves up to block the air inlet end of the transition channel 543, so that the air outlet 52 is not connected with the air inlet channel 541.

[0053] Optionally, a ball 547 is provided at the upper end of the channel switch valve 544 , and the ball 547 can rotate to reduce the friction between the workpiece and the channel switch valve 544 .

[0054] Correspondingly, on the basis of the above embodiments, this embodiment provides a working method for the machine tool robot loading and unloading cooperation system as described above, including: lifting the pallet stack on the cart 40 to a preset height; translating the uppermost pallet to the loading and unloading position 101; supplying air to the pallet, positioning a green material in the pallet in place, grasping it and sending it to the machine tool 30 for processing, and stopping supplying air to the pallet; after the green material in the machine tool 30 is processed, clamping the clinker, placing another green material, grasping the clinker and placing it into the pallet for loading another green material; when the pallets at the loading and unloading position 101 are all clinkers, recycling the clinker pallets to the lower part of the pallet stack on the cart 40.

[0055] The following is an example of the working process of the machine tool robot loading and unloading cooperation system in an application scenario: The operator sends the cart 40 equipped with the pallet stack into the cart accommodating space of the pallet circulation device 10; The first lifting module 1111 drives the first lifting plate 1112 to rise, and the entire pallet stack on the cart 40 is lifted to a certain height through the lifting member 1113, so that the uppermost pallet is located at a position where it can be clamped by the first translation device 112; The two plugging cylinders 1122 of the first translation device 112 respectively drive the corresponding plugging members 1123 to insert into the plugging holes 55 on the pallet, and the translation driver 1124 drives the connecting frame 1121 to move, thereby transporting the pallet to the loading and unloading position 101; The second lifting module 1211 of the carrying device 121 drives the second lifting plate 1212 to rise to support the pallet, and the first translation device 112 resets and waits to move the next pallet; The docking cylinder 102 on the frame 1 drives the air nozzle 103 to insert into the air inlet interface 53 on the pallet; The collaborative robot 20 starts to load and unload the workpieces in the tray at the loading and unloading position 101: The robotic arm 22 drives the workpiece clamping device 23 to move to a workpiece in the tray, the air nozzle 103 supplies air, and the air outlet holes 52 on the tray blow air; after the positioning fixture 232 clamps and positions the workpiece in the material groove 51, the green material fixture 233 clamps and positions the workpiece, and the positioning fixture 232 releases; the air nozzle 103 stops supplying air, and the air outlet holes 52 on the tray stop blowing air; the robotic arm 22 drives the workpiece clamping device 23 to move into the machine tool 30 and places the workpiece on the processing position in the machine tool 30, and the processing device in the machine tool 30 starts processing; the robotic arm 22 drives the workpiece clamping device 23 to move to the tray to pick up the next green material according to the above process. After the picking is completed, it waits for the processing of the previous workpiece; after the previous workpiece is processed, the robotic arm 22 drives the workpiece clamping device 23 to move to the processing position in the machine tool 30. After the finished material fixture 234 picks up the finished material in the machine tool 30, the green material fixture 233 places the green material on the processing position, and the machine tool 30 starts processing; the robotic arm 22 drives the workpiece clamping device 23 to move to the tray, and the finished material fixture 234 returns the finished material to the tray, and the workpiece clamping device 23 picks up the next green material according to the above process; When all the workpieces in the tray at the loading and unloading position 101 become finished materials, the second lifting module 1211 of the carrying device 121 drives the second lifting plate 1212 to descend, thereby driving the tray filled with finished materials to fall onto the carrying plate 1224 of the second translation device 122. At this time, the lifting cylinder 1223 is in the ejected state; After the translation module 1221 drives the carrying plate 1224 to move the tray above the trolley, the lifting cylinder 1223 retracts, so that the tray filled with finished materials can fall on the surface of the trolley; The first lifting module 1111 drives the first lifting plate 1112 to descend, so that the stack of trays falls on the tray filled with finished materials. When the lifting member 1113 is located below the tray filled with finished materials, the first lifting module 1111 drives the first lifting plate 1112 to rise, and the entire stack of trays is lifted by the lifting member 1113, and the first translation device 112 performs the next round of tray transportation; Repeat the above process until all the workpieces in the entire stack of trays are processed, and then the operator pulls out the trolley.

[0056] It should be noted that all the devices (components without specific structures described) selected in this application are common standard parts or parts known to those skilled in the art, and their structures and principles can be known by those skilled in the art through technical manuals or obtained through conventional experimental methods.

[0057] In the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "coupled" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0059] Based on the above inspiration from the ideal embodiments of the present invention, through the above description, relevant workers can completely make various changes and modifications without departing from the technical idea of this invention. The technical scope of this invention is not limited to the content in the specification.

Claims

1. A loading and unloading cooperation system for a machine tool robot, characterized in that, Comprising: A machine tool (30), a collaborative robot (20), and a tray circulation device (10); wherein The tray circulation device (10) includes a frame (1) and a tray supply mechanism (11) and a tray recycling mechanism (12) arranged inside the frame (1); the tray supply mechanism (11) is used to convey the tray filled with raw materials on the trolley (40) to the loading and unloading position (101); the tray recycling mechanism (12) is used to convey the tray filled with clinker back to the trolley (40) from the loading and unloading position (101); and The collaborative robot (20) is used to grab the raw materials in the tray at the loading and unloading position (101) into the machine tool (30), and grab the clinker in the machine tool (30) into the tray at the loading and unloading position (101).

2. The machine tool robot loading and unloading collaborative system according to claim 1, wherein One end of the frame (1) is provided with a trolley accommodation space; The tray supply mechanism (11) includes lifting devices (111) located on both sides of the trolley accommodation space, and a first translation device (112) located above the trolley accommodation space; The lifting device (111) is used to lift the lowermost tray of the tray stack on the trolley (40) so that the uppermost tray enters the first translation device (112); The first translation device (112) is used to convey the uppermost tray to the loading and unloading position (101).

3. The machine tool robot loading and unloading collaborative system according to claim 2, wherein The other end of the frame (1) is provided with a tray recycling space, and the loading and unloading position (101) is arranged above the tray recycling space; The tray recycling mechanism (12) includes carrying devices (121) located on both sides of the tray recycling space, and a second translation device (122) located below the tray recycling space; The carrying device (121) is used to receive the tray conveyed by the first translation device (112), and drive the tray to descend onto the second translation device (122) after all the raw materials in the tray are processed into clinker; The second translation device (122) is used to translate the tray filled with clinker to the lower part of the tray stack lifted by the lifting device (111).

4. The machine tool robot loading and unloading collaborative system according to claim 3, wherein The lifting device (111) includes: a first lifting module (1111), and a first lifting plate (1112) installed on the first lifting module (1111); A plurality of lifting members (1113) are hinged on the first lifting plate (1112); wherein When the first lifting plate (1112) rises, the lifting members (1113) are in a horizontal state for lifting the tray; when the first lifting plate (1112) descends, the lifting members (1113) are driven to rotate upward by the outer wall of the tray and return to the horizontal state after leaving the lowermost tray; The first translation device (112) includes: A connecting frame (1121), which is slidably installed on the frame (1); Two plugging cylinders (1122) are respectively installed on both sides of the connection frame (1121); a plugging member (1123) for inserting into corresponding plugging holes (55) on the tray is provided at the end of the plugging cylinder (1122); and A translation driver (1124) is arranged on the frame body (1) and is used to drive the connection frame (1121) to move towards the loading and unloading position (101).

5. The loading and unloading cooperation system of the machine tool robot according to claim 3, wherein The carrying device (121) includes: a second lifting module (1211) and a second lifting plate (1212) installed on the second lifting module (1211); The second translation device (122) includes: A translation module (1221); A moving plate (1222) installed on the translation module (1221); A lifting cylinder (1223) installed on the moving plate (1222), and a carrying plate (1224) for carrying the tray filled with clinker is provided at the upper end thereof.

6. The loading and unloading cooperation system of the machine tool robot according to claim 2, wherein The cooperative robot (20) includes: A chassis (21) arranged on one side of the tray circulation device (10); A robotic arm (22) installed on the chassis (21); and A workpiece clamping device (23) arranged at the end of the robotic arm (22); wherein The workpiece clamping device (23) includes a mounting plate (231), and a positioning fixture (232), a raw material fixture (233) and a clinker fixture (234) arranged on the mounting plate (231); the positioning fixture (232) is used for clamping and positioning the raw material in the tray; the raw material fixture (233) is used for clamping the positioned raw material; the clinker fixture (234) is used for clamping the clinker in the machine tool (30).

7. The loading and unloading cooperation system of the machine tool robot according to claim 6, wherein The positioning fixture (232) includes: A fixing plate (2321) with one end fixed on the mounting plate (231) and a fixing block (2322) arranged at the other end; a first V-shaped groove (2323) is arranged on the fixing block (2322); A positioning cylinder (2324) fixed on the mounting plate (231); A positioning moving plate (2325) with one end fixed on the positioning cylinder (2324) and a moving block (2326) arranged at the other end; a second V-shaped groove (2327) is arranged on the moving block (2326).

8. The loading and unloading cooperation system of the machine tool robot according to claim 7, wherein A plurality of material grooves (51) for placing workpieces are arranged on the tray (50); Air outlet holes (52) are arranged at the bottom of the material groove (51); An air inlet interface (53) is arranged on one side of the tray (50), and an air supply system (54) for connecting the air inlet interface (53) and the air outlet holes (52) is arranged in the tray (50); A docking cylinder (102) is provided on one side of the frame (1) located at the upper and lower material positions (101), and a gas nozzle (103) is provided on the cylinder for docking with the air inlet interface (53); wherein When the first translation device (112) transports the uppermost material tray to the upper and lower material positions (101), the docking cylinder (102) drives the air nozzle (103) to be inserted into the air inlet interface (53) on the material tray; and When the positioning fixture (232) clamps and positions the raw material in the material trough (51), the air nozzle (103) supplies air to the air outlet (52).

9. The machine tool robot loading and unloading cooperation system according to claim 8, characterized in that: The gas supply system (54) comprises: An air intake passage (541) communicates with the air intake interface (53); A flow dividing chamber (542) is arranged below each material trough (51), with its upper end being in communication with the air outlet hole (52) at the bottom of the trough, and its lower end being in communication with the air inlet channel (541) via a transition channel (543); A channel switch valve (544) is disposed in the transition channel (543), with its upper end extending out of the material trough (51) and its lower end being provided with a plug (545) for blocking the air inlet end of the transition channel (543); and A spring (546) is arranged at the bottom of the channel switch valve (544); wherein When there is a workpiece in the material trough (51), the workpiece presses down the channel switch valve (544), and the plug (545) moves downward to open the transition channel (543), so that the air outlet (52) is connected to the air inlet channel (541); when there is no workpiece in the material trough (51), the spring (546) pushes up the channel switch valve (544), and the plug (545) moves upward to block the air inlet end of the transition channel (543), so that the air outlet (52) is not connected to the air inlet channel (541).

10. A working method of the loading and unloading cooperation system of a machine tool robot according to any one of claims 1-9, characterized in that, include: Lifting the stack of trays on the trolley (40) to a preset height; Move the top material tray horizontally to the upper and lower material positions (101); Supplying air to the material tray, positioning the material in the material tray in its original position, grabbing it to the machine tool (30) for processing, and stopping supplying air to the material tray; After the raw material in the machine tool (30) is processed, the clinker is clamped and another raw material is placed, and then the clinker is grabbed into the material tray and the other raw material is loaded; When the material trays at the upper and lower material positions (101) are all filled with clinker, the clinker trays are recovered to the bottom of the material tray stack on the cart (40).

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